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kinetics: C++ library for Control, and Planning.

C++ library implementation of Modern Robotics: Mechanics, Planning, and Control (Kevin Lynch and Frank Park, Cambridge University Press 2017).

functional implementation is available in Python, Matlab, Mathematica: Modern Robotics

required libraries:

  • make sure to install eigens, igl libraries
  • install algebra library see the instructionsAlgebra

installation

user@name:~$ . ./install.sh

verify kinetics is working by running example examples/exercises.cpp

user@name:~/kinetics$ cd examples
user@name:~/kinetics/examples$ g++ exercises.cpp  -I /usr/include/eigen3 -lpthread -lalgebra -lkinetics && ./a.out